CN205049975U - Radio frequency RSSI value combines robot of infrared navigation technique to return storehouse charging system - Google Patents
Radio frequency RSSI value combines robot of infrared navigation technique to return storehouse charging system Download PDFInfo
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- CN205049975U CN205049975U CN201520812924.1U CN201520812924U CN205049975U CN 205049975 U CN205049975 U CN 205049975U CN 201520812924 U CN201520812924 U CN 201520812924U CN 205049975 U CN205049975 U CN 205049975U
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Abstract
The utility model relates to a radio frequency RSSI value combines robot of infrared navigation technique to return storehouse charging system. Including robot and charging seat, it reaches the motor driver module who is connected with a main control unit, ultrasonic wave transceiver module, infrared transceiver module, the first wireless radio frequency transceiver module who is used for judging robot and barrier distance to be provided with a main control unit in the robot, motor driver module rotates the motor with robot wheel motor, robot cloud platform and is connected, the charging seat is provided with the 2nd main control unit and the infrared sending module that is connected with the 2nd main control unit, be used for and the wireless radio frequency transmiting receiving component of second that first wireless radio frequency transmiting receiving component goes on communicating, be used for realizing right the battery of robot carries out the charge control module that charges. The utility model discloses combine wireless radio frequency and infrared navigation to realize the automation of robot and go back to the storehouse and charge, guaranteed that the robot can uninterrupted duty.
Description
Technical field
The utility model relates to a kind of radio frequency RSSI value and returns storehouse charging system in conjunction with the robot of infrared navigation technology.
Background technology
Intelligent robot itself, with the rechargeable battery of certain capacity, only has two to three hours working times under state of operating at full capacity, therefore when battery electric quantity reaches alert status, robot needs automatically to return storehouse charging, reaches the object of robot energy non-stop run.In order to realize above-mentioned functions, the utility model provides the system of a kind of automatic time storehouse charging mainly through the wireless fuzzy navigation of long distance, and the mode of the infrared precision navigation of low coverage realizes.
Summary of the invention
Charging in the storehouse of automatically returning that the purpose of this utility model is to provide a kind of combining wireless radio frequency and infrared navigation to achieve robot, ensure that robot the radio frequency RSSI value of non-stop run can return storehouse charging system in conjunction with the robot of infrared navigation technology.
For achieving the above object, the technical solution of the utility model is: a kind of radio frequency RSSI value returns storehouse charging system in conjunction with the robot of infrared navigation technology, comprise robot and cradle, the motor drive module described robot being provided with the first master controller and be connected with this first master controller, for judging ultrasonic transceiver module, infrared transceiver module, first radio frequency transceiving module of robot and obstacle distance, described motor drive module is connected with robot car turbin generator, robot cloud platform rotation motor; Described cradle be provided with the second master controller and be connected with this second master controller infrared sending module, for carry out communicating with described first radio frequency transceiving module the second radio frequency transceiving module, for realizing the charge control module of charging to the battery of described robot.
In the utility model one embodiment, described infrared sending module comprises 3 infrared transmitters, is respectively the top infrared transmitter being arranged at cradle top, is arranged at the left infrared transmitter of cradle left front and right front and right infrared transmitter respectively.
In the utility model one embodiment, described infrared transceiver module comprises at least one infrared transceiver be arranged in robot.
In the utility model one embodiment, described infrared transceiver is 3: comprise the top infrared transceiver being arranged at robot top, the left infrared transceiver being arranged at robot left front and right front respectively and right infrared transceiver, and described top infrared transceiver, left infrared transceiver, right infrared transceiver are oppositely arranged with top infrared transmitter, left infrared transmitter, right infrared transmitter.
In the utility model one embodiment, described ultrasonic transceiver module comprises four ultrasonic transmitter-receivers being arranged at robot front, rear, left and right, with the distance of difference measuring distance robot front, rear, left and right barrier.
In the utility model one embodiment, described first master controller adopts STM32F407VGT6 chip.
In the utility model one embodiment, described second master controller adopts 51 single-chip microcomputers.
In the utility model one embodiment, described motor drive module adopts L298N motor drive ic.
In the utility model one embodiment, described robot also arranges one and to be connected with described first master controller and for carrying out with mobile terminal the communication module that communicates.
Compared to prior art, the utility model has following beneficial effect: charge in the storehouse of automatically returning that combining wireless radio frequency and infrared navigation achieve robot, ensure that robot can non-stop run, and the utility model can also communicate with mobile phone, flat board, PC etc., thus band infrared household electrical appliance in indoor are controlled.
Accompanying drawing explanation
The theory diagram of Fig. 1 to be the utility model radio frequency RSSI value in conjunction with the robot of infrared navigation technology return storehouse charging system.
Fig. 2 is application block diagram of the present utility model.
Fig. 3 is the schematic diagram of the utility model first controller.
Fig. 4 is the utility model motor drive module schematic diagram.
Fig. 5 is the utility model radio frequency transceiving module interface principle figure.
Fig. 6 is the utility model infrared module interface principle figure.
Fig. 7 is the utility model ultrasonic wave module interface principle figure.
Fig. 8 is the utility model infrared remote control module interface schematic diagram.
Tu9Shi the utility model robot returns storehouse charging stage one process flow diagram.
Figure 10 is that the utility model robot returns storehouse charging stage two process flow diagram.
Figure 11 is that the utility model robot returns storehouse charging stage three process flow diagram.
Figure 12 is that the utility model robot returns storehouse charging stage four process flow diagram.
Figure 13 is that the utility model robot returns storehouse charging stage five process flow diagram.
Embodiment
Below in conjunction with accompanying drawing 1-13, the technical solution of the utility model is specifically described.
As Fig. 1, shown in Fig. 3-Fig. 8, a kind of radio frequency RSSI value of the present utility model returns storehouse charging system in conjunction with the robot of infrared navigation technology, comprise robot and cradle, the motor drive module (L298N motor drive ic) described robot being provided with the first master controller (adopting STM32F407VGT6 chip) and being connected with this first master controller, for judging the ultrasonic transceiver module of robot and obstacle distance, infrared transceiver module, first radio frequency transceiving module, described motor drive module and robot car turbin generator, robot cloud platform rotation motor connects, described cradle be provided with the second master controller (adopt 51 series or other single-chip microcomputers) and the infrared sending module be connected with this second master controller, for carry out communicating with described first radio frequency transceiving module the second radio frequency transceiving module, for realizing the charge control module of charging to the battery of described robot.
Described infrared sending module comprises 3 infrared transmitters, be respectively the top infrared transmitter being arranged at cradle top, be arranged at the left infrared transmitter of cradle left front and right front and right infrared transmitter respectively, and the infrared light that this 3 each infrared transmitter sends has different codings, belong to which infrared transmitter send so that be arranged at infrared light that the infrared transceiver module identification in robot receives, thus be convenient to robot localization cradle position.
Described infrared transceiver module comprises at least one infrared transceiver be arranged in robot.Further, in order to improve the degree of accuracy of robot localization, described infrared transceiver is 3: comprise the top infrared transceiver being arranged at robot top, the left infrared transceiver being arranged at robot left front and right front respectively and right infrared transceiver, and described top infrared transceiver, left infrared transceiver, right infrared transceiver are oppositely arranged with top infrared transmitter, left infrared transmitter, right infrared transmitter.
Described ultrasonic transceiver module comprises four ultrasonic transmitter-receivers being arranged at robot front, rear, left and right, with the distance of difference measuring distance robot front, rear, left and right barrier.
In order to realize the control of robot to the infrared household electrical appliances of band, robot of the present utility model is also arranged an infrared remote control module be connected with described first master controller, this infrared remote control module is used for the infrared household electrical appliance of control cincture, and in order to realize the warning of indoor acoustic image collection, smog, gate inhibition etc., this robot is also provided with and comprises the sensor such as video camera, smoke transducer.In order to realize communicating with mobile phone, PC etc., robot of the present utility model also being arranged one and to be connected with described first master controller and for carrying out with mobile terminal the communication module that communicates.
With reference to shown in Fig. 2, tell about an embody rule example of the present utility model.
A combining wireless radio frequency of native system design and the robot of infrared navigation technology go back to the robot of storehouse charging system, comprise robot body, software systems and hardware support kit equipment and composition.
(1), robot body: comprise robot transmission platform (comprising robot car turbin generator, cloud platform rotation motor), intelligent control system.
(2), software systems: comprise robotic end software subsystem, subscription client software subsystem, system manager's client software subsystem, server software subsystem and cradle end software subsystem.
(3), hardware support kit equipment: comprise smart mobile phone, panel computer, PC, server, cradle, wireless router.
Intelligent robot itself, with the rechargeable battery of certain capacity, only has two to three hours working times under state of operating at full capacity, therefore when battery electric quantity reaches alert status, robot needs automatically to return storehouse charging, reaches the object of robot energy non-stop run.Automatically return storehouse charging mainly through the wireless fuzzy navigation of long distance, the mode of the infrared precision navigation of low coverage realizes.Main hardware functional block diagram as described in Figure 1, this robot return storehouse charging system comprise be arranged at the first master controller in robot (adopting STM32F407VGT6 chip) and the motor drive module (L298N motor drive ic) be connected with this first master controller, for judging ultrasonic transceiver module, infrared transceiver module, first radio frequency transceiving module of robot and obstacle distance, described motor drive module is connected with robot car turbin generator, robot cloud platform rotation motor; Described cradle be provided with the second master controller (adopt 51 series or other single-chip microcomputers) and the infrared sending module be connected with this second master controller, for carry out communicating with described first radio frequency transceiving module the second radio frequency transceiving module, for realizing the charge control module of charging to the battery of described robot.
Shown in Fig. 9-13, the auto-returned charging process that above-mentioned robot returns storehouse charging system divides 5 stages.
1) cradle infrared encoded signal is not received, according to radio frequency signal intensity to the close operation of cradle.When robot infrared remote receiver receives cradle infrared coding, enter the 2nd the stage robot near cradle.
2) robot top IR receiver does not receive cradle top IR coding, but 2 infrared codings about the cradle received, beyond robot distance cradle 1.5 meters, according to reception cradle left and right infrared state, rough control moves to cradle direction.When robot top IR receiver receive cradle top IR coding time, enter the 3rd the stage robot to cradle dead ahead.
3) range ability when robot receives the sequencing of cradle infrared coding according to infrared remote receiver in operation and receives, calculate cradle Position Approximate, control runs to cradle dead ahead.When robot top IR receives cradle 3 infrared codings, rectify cradle before entering the 4th stage robot.
4) revolute direction, receives cradle left and right infrared coding situation according to left and right infrared remote receiver, and cradle is aimed in front end by adjustment robot.When robot top IR receives cradle 3 infrared codings, and during robot left and right infrared receiver cradle left and right infrared coding, enter the 5th stage robot aligning charging.
5) robot according to top IR and left and right infrared receiver to cradle infrared coding situation and ultrasonic ranging.Gradually near cradle, and whether detection charges successfully, and when detection is charged successfully, out of service beginning is charged.
Be more than preferred embodiment of the present utility model, all changes done according to technical solutions of the utility model, when the function produced does not exceed the scope of technical solutions of the utility model, all belong to protection domain of the present utility model.
Claims (9)
1. a radio frequency RSSI value returns storehouse charging system in conjunction with the robot of infrared navigation technology, it is characterized in that: comprise robot and cradle, the motor drive module described robot being provided with the first master controller and be connected with this first master controller, for judging ultrasonic transceiver module, infrared transceiver module, first radio frequency transceiving module of robot and obstacle distance, described motor drive module is connected with robot car turbin generator, robot cloud platform rotation motor; Described cradle be provided with the second master controller and be connected with this second master controller infrared sending module, for carry out communicating with described first radio frequency transceiving module the second radio frequency transceiving module, for realizing the charge control module of charging to the battery of described robot.
2. a kind of radio frequency RSSI value according to claim 1 returns storehouse charging system in conjunction with the robot of infrared navigation technology, it is characterized in that: described infrared sending module comprises 3 infrared transmitters, be respectively the top infrared transmitter being arranged at cradle top, be arranged at the left infrared transmitter of cradle left front and right front and right infrared transmitter respectively.
3. a kind of radio frequency RSSI value according to claim 2 returns storehouse charging system in conjunction with the robot of infrared navigation technology, it is characterized in that: described infrared transceiver module comprises at least one infrared transceiver be arranged in robot.
4. a kind of radio frequency RSSI value according to claim 3 returns storehouse charging system in conjunction with the robot of infrared navigation technology, it is characterized in that: described infrared transceiver is 3: comprise the top infrared transceiver being arranged at robot top, the left infrared transceiver being arranged at robot left front and right front respectively and right infrared transceiver, described top infrared transceiver, left infrared transceiver, right infrared transceiver are oppositely arranged with top infrared transmitter, left infrared transmitter, right infrared transmitter.
5. a kind of radio frequency RSSI value according to claim 1 returns storehouse charging system in conjunction with the robot of infrared navigation technology, it is characterized in that: described ultrasonic transceiver module comprises four ultrasonic transmitter-receivers being arranged at robot front, rear, left and right, with the distance of difference measuring distance robot front, rear, left and right barrier.
6. a kind of radio frequency RSSI value according to claim 1 returns storehouse charging system in conjunction with the robot of infrared navigation technology, it is characterized in that: described first master controller adopts STM32F407VGT6 chip.
7. a kind of radio frequency RSSI value according to claim 1 returns storehouse charging system in conjunction with the robot of infrared navigation technology, it is characterized in that: described second master controller adopts 51 single-chip microcomputers.
8. a kind of radio frequency RSSI value according to claim 1 returns storehouse charging system in conjunction with the robot of infrared navigation technology, it is characterized in that: described motor drive module adopts L298N motor drive ic.
9. a kind of radio frequency RSSI value according to claim 1 returns storehouse charging system in conjunction with the robot of infrared navigation technology, it is characterized in that: described robot also arranges one and to be connected with described first master controller and for carrying out with mobile terminal the communication module that communicates.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520812924.1U CN205049975U (en) | 2015-10-21 | 2015-10-21 | Radio frequency RSSI value combines robot of infrared navigation technique to return storehouse charging system |
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| CN201520812924.1U CN205049975U (en) | 2015-10-21 | 2015-10-21 | Radio frequency RSSI value combines robot of infrared navigation technique to return storehouse charging system |
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| CN205049975U true CN205049975U (en) | 2016-02-24 |
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| CN201520812924.1U Expired - Fee Related CN205049975U (en) | 2015-10-21 | 2015-10-21 | Radio frequency RSSI value combines robot of infrared navigation technique to return storehouse charging system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108571965A (en) * | 2018-04-12 | 2018-09-25 | 杭州晶智能科技有限公司 | The intelligent method of localization for Mobile Robot recharging base based on RSSI and angular position |
| CN108627171A (en) * | 2018-04-20 | 2018-10-09 | 杭州晶智能科技有限公司 | The intelligent method of localization for Mobile Robot recharging base based on wireless signal strength gradient |
| CN108664017A (en) * | 2017-04-01 | 2018-10-16 | 富泰华工业（深圳）有限公司 | The method for searching of electronic device and electronic device |
| CN108762254A (en) * | 2018-05-03 | 2018-11-06 | 杭州晶智能科技有限公司 | Mobile robot return path planing method based on wireless signal strength variation |
| CN109599918A (en) * | 2019-01-16 | 2019-04-09 | 深圳市三宝创新智能有限公司 | A kind of charging unit with charging navigation system |
| CN112433542A (en) * | 2020-11-06 | 2021-03-02 | 深圳市大象机器人科技有限公司 | Automatic robot recharging method and system based on visual positioning |
-
2015
- 2015-10-21 CN CN201520812924.1U patent/CN205049975U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108664017A (en) * | 2017-04-01 | 2018-10-16 | 富泰华工业（深圳）有限公司 | The method for searching of electronic device and electronic device |
| CN108571965A (en) * | 2018-04-12 | 2018-09-25 | 杭州晶智能科技有限公司 | The intelligent method of localization for Mobile Robot recharging base based on RSSI and angular position |
| CN108627171A (en) * | 2018-04-20 | 2018-10-09 | 杭州晶智能科技有限公司 | The intelligent method of localization for Mobile Robot recharging base based on wireless signal strength gradient |
| CN108762254A (en) * | 2018-05-03 | 2018-11-06 | 杭州晶智能科技有限公司 | Mobile robot return path planing method based on wireless signal strength variation |
| CN109599918A (en) * | 2019-01-16 | 2019-04-09 | 深圳市三宝创新智能有限公司 | A kind of charging unit with charging navigation system |
| CN112433542A (en) * | 2020-11-06 | 2021-03-02 | 深圳市大象机器人科技有限公司 | Automatic robot recharging method and system based on visual positioning |
| CN112433542B (en) * | 2020-11-06 | 2024-03-26 | 深圳市大象机器人科技有限公司 | Automatic robot recharging method and system based on visual positioning |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160224 Termination date: 20211021 |